SqueezeSeg-Modified: The approach introduced in SqueezeSeg [1]} has been followed with slight changes in the input shape. SqueezeSeg uses the range, intensity and the three Cartesian coordinates of each point as input channels while our implementation uses the range and intensity only. The primary neural network used is the same as the one used in VolMap and described in section REF . The input is constructed as 80 LiDAR layers as image height and 600 angles as image width, while the range and intensity are the two input channels.
